123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168 |
- /**
- * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
- #include <stdio.h>
- #include "pico/stdlib.h"
- #include "pico/test.h"
- #include "pico/time.h"
- #include "hardware/irq.h"
- #include "hardware/resets.h"
- #include "hardware/pwm.h"
- PICOTEST_MODULE_NAME("PWM", "PWM SDK Test harness");
- /* In a struct for future expansion of the interrupt testv */
- struct interrupt_state {
- int count;
- } interrupt_states[NUM_PWM_SLICES] = {0};
- void on_pwm_wrap() {
- for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
- // See if this pwm, is the one that fired.
- if (pwm_get_irq_status_mask() & (1 << pwm)) {
- // Clear the interrupt flag that brought us here
- pwm_clear_irq(pwm);
- interrupt_states[pwm].count++;
- }
- }
- }
- int main() {
- reset_block(RESETS_RESET_PWM_BITS);
- unreset_block_wait(RESETS_RESET_PWM_BITS);
- setup_default_uart();
- PICOTEST_START();
- pwm_config config = pwm_get_default_config();
- // Test that config sets works on all PWMs by comparing what we pass in
- // via the API with what the registers contains afterwards
- pwm_config_set_phase_correct(&config, true);
- pwm_config_set_clkdiv(&config, 42.5);
- pwm_config_set_clkdiv_mode(&config, PWM_DIV_B_HIGH);
- pwm_config_set_output_polarity(&config, false, true);
- pwm_config_set_wrap(&config, 0x1234);
- PICOTEST_START_SECTION("PWM config init tests");
- for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
- pwm_slice_hw_t *slice = &pwm_hw->slice[pwm];
- pwm_init(pwm, &config, false);
- uint div = (uint)(42.5f * (float)(1 << PWM_CH0_DIV_INT_LSB));
- PICOTEST_CHECK_CHANNEL(pwm, slice->top == config.top, "HW top does not match requested config");
- //PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == 0x1234, "HW counter does not match config");
- PICOTEST_CHECK_CHANNEL(pwm, slice->cc == PWM_CH0_CC_RESET, "HW compares does not match config");
- PICOTEST_CHECK_CHANNEL(pwm, slice->div == div, "HW divider does not match config");
- PICOTEST_CHECK_CHANNEL(pwm, slice->csr ==
- (1 << PWM_CH0_CSR_PH_CORRECT_LSB | 0 << PWM_CH0_CSR_A_INV_LSB | 1 << PWM_CH0_CSR_B_INV_LSB |
- PWM_CH0_CSR_DIVMODE_VALUE_LEVEL << PWM_CH0_CSR_DIVMODE_LSB), "HW CSR does not match config");
- }
- PICOTEST_END_SECTION();
- // Need to test the SDK APIs do the right thing
- PICOTEST_START_SECTION("PWM SDK API tests");
- for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
- pwm_slice_hw_t *slice = &pwm_hw->slice[pwm];
- int v = 100 + pwm * 10;
- pwm_set_wrap(pwm, v);
- PICOTEST_CHECK_CHANNEL(pwm, slice->top == v, "pwm_set_wrap() failed to set register");
- pwm_set_both_levels(pwm, v + 1, v);
- PICOTEST_CHECK_CHANNEL(pwm, slice->cc == (((v) << PWM_CH0_CC_B_LSB) | ((v + 1) << PWM_CH0_CC_A_LSB)),
- "pwm_set_both_levels() failed to set register");
- float divider = 100.5;
- int i = (int16_t) divider;
- int f = (int8_t) ((divider - i) * 16);
- pwm_set_clkdiv(pwm, divider);
- PICOTEST_CHECK_CHANNEL(pwm, slice->div == (i << 4 | f), "pwm_set_clkdiv() failed to set register");
- i++;
- pwm_set_clkdiv_int_frac(pwm, i, f);
- PICOTEST_CHECK_CHANNEL(pwm, slice->div == (i << 4 | f),
- "pwm_set_clkdiv_int_frac() failed to set register");
- int c = 1234;
- pwm_set_counter(pwm, c);
- PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == c, "pwm_set_counter() failed to set register");
- int cc = pwm_get_counter(pwm);
- PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == cc && cc == c, "pwm_get_counter() failed to get register");
- pwm_set_output_polarity(pwm, false, false);
- PICOTEST_CHECK_CHANNEL(pwm,
- !(slice->csr & PWM_CH0_CSR_A_INV_BITS) && !(slice->csr & PWM_CH0_CSR_B_INV_BITS),
- "pwm_set_output_polarity() (F/F)");
- pwm_set_output_polarity(pwm, true, false);
- PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_A_INV_BITS) && !(slice->csr & PWM_CH0_CSR_B_INV_BITS),
- "pwm_set_output_polarity() (T/F)");
- pwm_set_output_polarity(pwm, false, true);
- PICOTEST_CHECK_CHANNEL(pwm, !(slice->csr & PWM_CH0_CSR_A_INV_BITS) && (slice->csr & PWM_CH0_CSR_B_INV_BITS),
- "pwm_set_output_polarity() (F/T)");
- pwm_set_output_polarity(pwm, true, true);
- PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_A_INV_BITS) && (slice->csr & PWM_CH0_CSR_B_INV_BITS),
- "pwm_set_output_polarity() (T/T)");
- pwm_set_phase_correct(pwm, true);
- PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_PH_CORRECT_BITS), "pwm_set_phase_correct(T)");
- pwm_set_phase_correct(pwm, false);
- PICOTEST_CHECK_CHANNEL(pwm, !(slice->csr & PWM_CH0_CSR_PH_CORRECT_BITS), "pwm_set_phase_correct(F)");
- for (int m = PWM_DIV_FREE_RUNNING; m <= PWM_DIV_B_FALLING; m++) {
- pwm_set_clkdiv_mode(pwm, m);
- PICOTEST_CHECK_CHANNEL(pwm, ((slice->csr & PWM_CH0_CSR_DIVMODE_BITS) >> PWM_CH0_CSR_DIVMODE_LSB) == m,
- "pwm_set_clkdiv_mode");
- }
- }
- PICOTEST_END_SECTION();
- PICOTEST_START_SECTION("PWM IRQ tests");
- irq_set_exclusive_handler(PWM_IRQ_WRAP, on_pwm_wrap);
- irq_set_enabled(PWM_IRQ_WRAP, true);
- config = pwm_get_default_config();
- // Slow down the interrupt rate a load, don't need it high.
- // This give about 40 per second on Picoboard
- pwm_config_set_clkdiv(&config, 50);
- for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
- pwm_init(pwm, &config, false);
- pwm_clear_irq(pwm);
- pwm_set_irq_enabled(pwm, true);
- }
- // Now enable all the PWM at the same time.
- pwm_set_mask_enabled(0xff);
- sleep_ms(1000);
- int err = 0;
- for (int p = 0; p < NUM_PWM_SLICES; p++) {
- PICOTEST_CHECK_CHANNEL(p, interrupt_states[p].count != 0, "No interrupts detected from PWM %d\n");
- }
- PICOTEST_END_SECTION();
- PICOTEST_END_TEST();
- }
|